Rev 707 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 707 | Rev 726 | ||
|---|---|---|---|
| Line 65... | Line 65... | ||
| 65 | 65 | ||
| 66 | 66 | ||
| 67 | /*********************************************/ |
67 | /*********************************************/ |
| 68 | /* Initialize Interface to MM3 Compass */ |
68 | /* Initialize Interface to MM3 Compass */ |
| 69 | /*********************************************/ |
69 | /*********************************************/ |
| 70 | void MM3_init(void) |
70 | void MM3_Init(void) |
| Line 71... | Line 71... | ||
| 71 | { |
71 | { |
| Line 112... | Line 112... | ||
| 112 | 112 | ||
| 113 | 113 | ||
| 114 | /*********************************************/ |
114 | /*********************************************/ |
| 115 | /* Get Data from MM3 */ |
115 | /* Get Data from MM3 */ |
| 116 | /*********************************************/ |
116 | /*********************************************/ |
| 117 | void MM3_timer0() // called every 102.4 ms by timer 0 ISR |
117 | void MM3_Update() // called every 102.4 ms by timer 0 ISR |
| 118 | { |
118 | { |
| 119 | switch (MM3.STATE) |
119 | switch (MM3.STATE) |
| 120 | { |
120 | { |
| Line 200... | Line 200... | ||
| 200 | 200 | ||
| 201 | 201 | ||
| 202 | /*********************************************/ |
202 | /*********************************************/ |
| 203 | /* Calibrate Compass */ |
203 | /* Calibrate Compass */ |
| 204 | /*********************************************/ |
204 | /*********************************************/ |
| 205 | void MM3_calibrate(void) |
205 | void MM3_Calibrate(void) |
| 206 | { |
206 | { |
| 207 | int16_t x_min = 0, x_max = 0, y_min = 0, y_max = 0, z_min = 0, z_max = 0; |
207 | int16_t x_min = 0, x_max = 0, y_min = 0, y_max = 0, z_min = 0, z_max = 0; |
| Line 261... | Line 261... | ||
| 261 | 261 | ||
| 262 | 262 | ||
| 263 | /*********************************************/ |
263 | /*********************************************/ |
| 264 | /* Calculate north direction (heading) */ |
264 | /* Calculate north direction (heading) */ |
| 265 | /*********************************************/ |
265 | /*********************************************/ |
| 266 | int16_t MM3_heading(void) |
266 | int16_t MM3_Heading(void) |
| 267 | { |
267 | { |
| 268 | int32_t sin_pitch, cos_pitch, sin_roll, cos_roll, sin_yaw, cos_yaw; |
268 | int32_t sin_pitch, cos_pitch, sin_roll, cos_roll, sin_yaw, cos_yaw; |
| 269 | int32_t Hx, Hy, Hz, Hx_corr, Hy_corr; |
269 | int32_t Hx, Hy, Hz, Hx_corr, Hy_corr; |